refinecbf_ros

Builds a wrapper to interface with refineCBF in ROS2.

Dependencies

This repository has been tested solely with ROS2 Foxy. It's dependencies are:

• hj_reachability: https://github.com/StanfordASL/hj_reachability (git clone and then use pip install -e . for local installation)
• cbf_opt: https://github.com/stonkens/cbf_opt (same as above)
• refineCBF: https://github.com/UCSD-SASLab/refineCBF (same as above)
• matplotlib: For visualization purposes, a matplotlib version of 3.6.2 is recommended. Use pip install matplotlib==3.6.2 to install this version.

Turtlebot

To be figured out.

Jetracer

To be figured out.

Crazyflie

To use the Crazyflie examples in this repository, please clone the crazyswarm2 package from UCSD SASLab.

Jackal

To be figured out.